Vehicle detection is a crucial issue for driver assistance as well as for autonomous vehicle guidance function and it has to be performed with high reliability to avoid any potential collision. The vision-based vehicle detection systems are regarded p...
Vehicle detection is a crucial issue for driver assistance as well as for autonomous vehicle guidance function and it has to be performed with high reliability to avoid any potential collision. The vision-based vehicle detection systems are regarded promising for this purpose because they require little infrastructure on a highway. However, the feasibility of these systems in passenger car requires accurate and robust sensing performance. In this paper, vehicles detection system using stereo vision sensors is developed. This system utilizes morphological filter, feature detector, template matching and epipolar constraint techniques in order to detect the corresponding pairs of the vehicles. After the initial detection, the system executes the tracking algorithm for the vehicles. The proposed system can detect front vehicles, a leading vehicle and side lane vehicles. The position parameters of the vehicles located forward can be obtained. The proposed vehicle detection system is implemented on a passenger car and its performance is verified experimentally.